From 457847229ba58ac7eaaff82bbff8337d60b3993b Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Fri, 24 Mar 2017 13:47:17 -0500
Subject: Compute Pk|k-1 using full state.

Previously State::Pkk1() was only being computed for the body states.
Methods State::F() and State::Q() were written to compose the full
versions of their respective matrices and the results are used to update
Pk|k-1.
---
 src/state.h | 1 +
 1 file changed, 1 insertion(+)

(limited to 'src/state.h')

diff --git a/src/state.h b/src/state.h
index 0bb8215..1d8dd63 100644
--- a/src/state.h
+++ b/src/state.h
@@ -33,6 +33,7 @@ class State
         /* ====================  ACCESSORS     ======================================= */
         bool exists(int id);
         MatrixXd F(const Quaterniond &q, const Vector3d &w, double dt);
+        MatrixXd Q(double dt);
 
         /* ====================  MUTATORS      ======================================= */
         void accelerometer_bias(const Vector3d &b);
-- 
cgit v1.1